Robotaxi shared online car-hailing parking lot design method and system

Abstract

The present invention discloses a Robotaxi shared online car-hailing parking lot design method and system, which relate to the field of autonomous driving. The method comprises establishing a vehicle kinematic model, fitting the vehicle's automatic parking driving trajectory, and calculating the motion radius of the vehicle's vertex; based on the vehicle's automatic parking driving trajectory, calculating the coordinates of a first position point and a second position point during the vehicle's automatic parking process; based on the vehicle's automatic parking driving trajectory, obtaining the minimum safe distance between the vehicle and the parking space line during the vehicle's automatic parking process, and calculating the coordinates of a third position point, calculating the minimum width of the parking space based on the coordinates of the third position point, and calculating the minimum lane width based on the coordinates of the first position point, the coordinates of the second position point and the minimum safe distance; the present invention can help operators to more reasonably set parking space dimensions at vehicle parking points.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method and system for designing a parking lot for a Robotaxi shared online car-hailing vehicle. Background Art

[0002] With the development of transportation and Internet technology, online ride-hailing has become the best means of transportation for people. Online ride-hailing has also evolved from the initial single roadside online ride-hailing to online ride-hailing that directly issues orders through online ride-hailing applications APP (Application). The development of 5G, big data, cloud platforms and autonomous driving technology has made L4 (autonomous driving level) point-to-point autonomous driving mature. At present, most regions have set up autonomous driving demonstration routes and simultaneously launched Robotaxi (autonomous driving taxi) point-to-point autonomous driving online ride-hailing services. Robotaxi online ride-hailing has both the characteristics of traditional online ride-hailing and the attributes of traditional public transportation vehicles, and can also accept orders at any time and place.

[0003] In order to provide users with more convenient and fast ride services, Robotaxi autonomous driving online car-hailing operators need to set up temporary parking spots for vehicles in areas with dense pedestrian flow or areas with dense ride demand in various cities. According to land market rules, land prices in areas with dense pedestrian flow are very high. Whether the operator adopts the method of purchase or lease, it will bring them a huge capital investment burden. In order to reduce financial pressure and increase corporate revenue, the operator needs to find a way to reduce land costs. Therefore, the operator needs to park more vehicles at temporary parking spots with limited areas. That is, how to design the parking lot so that the parking lot can park more vehicles has become an urgent problem that needs to be solved. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide a Robotaxi shared online car-hailing parking lot design method and system, which can help operators to more reasonably set the parking space size at the vehicle parking point.

[0005] To achieve the above objectives, the present invention provides a method for designing a parking lot for a Robotaxi shared online car-hailing vehicle, which specifically includes the following steps:

[0006] Establish a vehicle kinematic model, fit the vehicle's automatic parking trajectory, and calculate the motion radius of the vehicle's vertex;

[0007] Based on the vehicle's automatic parking trajectory, calculate the coordinates of a first position point and a second position point during the vehicle's automatic parking process;

[0008] Based on the vehicle's automatic parking trajectory, the minimum safe distance between the vehicle and the parking space line during the automatic parking process is obtained, and the coordinates of the third position point are calculated;

[0009] The minimum width of the parking space is calculated according to the coordinates of the third position point, and the minimum width of the lane is calculated according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance;

[0010] Wherein, the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first drives the arc driving trajectory and then the straight driving trajectory;

[0011] The first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in a circular driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the circular driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the straight driving trajectory.

[0012] On the basis of the above technical solution, the specific steps of establishing the vehicle kinematic model include:

[0013] For vehicles, the kinematic model of four-wheeled vehicles is transformed into a bicycle model based on the Ackerman steering principle;

[0014] The converted vehicle model is positioned by coordinates, where the right rear vertex of the vehicle body is recorded as point A, the right front vertex of the vehicle body is recorded as point B, the left front vertex of the vehicle body is recorded as point C, the left rear vertex of the vehicle body is recorded as point D, the coordinates of the center point of the rear axle are marked as (X, Y), and the coordinates of the center point of the front axle are marked as (X f ,Y f ), the equivalent wheel turning angle of the front axle center is denoted as δ f , the minimum turning radius of the rear axle midpoint is recorded as R min .

[0015] On the basis of the above technical solution, the vehicle automatic parking driving trajectory fitting is performed, and the specific steps include:

[0016] Calculate the relationship between the four vertices of the vehicle body and the midpoint of the rear axle;

[0017] According to the Ackerman steering principle, the initial speed and the front wheel steering angle of the kinematic model are given at the same time, and the vehicle's automatic parking trajectory is fitted into a circular trajectory and a straight trajectory.

[0018] On the basis of the above technical solution, the arc driving trajectory is that the vehicle starts from the first position point and moves to R min The vehicle rotates 90° with a rotation radius to reach the second position point, and the straight-line travel track is for the vehicle to reverse in a straight line from the second position point to the third position point.

[0019] Based on the above technical solution, the specific relationship between the four vertices of the vehicle body and the midpoint of the rear axle is:

[0020]

[0021]

[0022]

[0023]

[0024] Among them, X A Indicates the horizontal coordinate of point A, Y A represents the ordinate of point A, W represents the width of the vehicle body, It represents the angle between the length of the vehicle body and the x-axis. r Indicates the distance between the front axle and the front of the vehicle, X B Indicates the horizontal coordinate of point B, Y B represents the ordinate of point B, X C Indicates the horizontal coordinate of point C, Y C represents the ordinate of point C, X D Indicates the horizontal coordinate of point D, Y D Indicates the vertical coordinate of point D.

[0025] Based on the above technical solution, the coordinates of the third position point are obtained by calculation, and the specific calculation method is:

[0026]

[0027]

[0028] Among them, x P3 Indicates the horizontal coordinate of the third position point, W ab Indicates the width of the parking space, y P3 represents the ordinate of the third position point, Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed, l r Indicates the distance from the front axle to the front of the vehicle.

[0029] On the basis of the above technical solution, the step of calculating the minimum width of the parking space according to the coordinates of the third position point includes:

[0030] When the midpoint of the rear axle of the vehicle reaches the second position, the vehicle turns and the left rear vertex D of the vehicle body rotates around point O. The rotation radius is:

[0031]

[0032] Among them, R DIt indicates that when the midpoint of the rear axle of the vehicle reaches the second position point, the vehicle turns and the left rear vertex D of the vehicle body rotates around the point O, where O represents the center of the circular arc driving trajectory and W represents the width of the vehicle body;

[0033] Based on the obstacle avoidance requirement at point D when the vehicle is parking in a vertical parking space, we get:

[0034]

[0035] Among them, Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking;

[0036] Calculate the minimum width of the parking space:

[0037]

[0038] Among them, W abmin Indicates the minimum width of a parking space. Indicates the minimum horizontal coordinate of the third position point.

[0039] On the basis of the above technical solution, the first position point coordinates and the second position point coordinates in the process of automatic parking of the vehicle are calculated based on the vehicle automatic parking driving trajectory, and the specific steps include:

[0040] The intersection of the extended line of the rear axle of the vehicle and the AB side of the body contour is recorded as point E. When the vehicle is traveling in an arc, when the trajectory of point E just passes through the right front corner of the parking space, the lower limit values ​​of the coordinates of the first position point and the second position point can be obtained. Specifically:

[0041]

[0042] in, Indicates the minimum value of the ordinate of the second position point, L ad Indicates the length of the parking space, L ad =L+Δt, L represents the length of the vehicle body, Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed, W ab Indicates the width of the parking space;

[0043]

[0044]

[0045] in, Indicates the minimum value of the horizontal coordinate of the first position point, W ab Indicates the width of the parking space. Indicates the minimum value of the vertical coordinate of the first position point;

[0046]

[0047] Where l represents the distance between the front axle and the rear axle, l f represents the distance from the rear axle to the parking space, Δt2 represents the minimum distance between the edge of the vehicle and the edge of the lane during parking, and h represents the road width.

[0048] Based on the above technical solution, the minimum lane width is calculated as follows:

[0049]

[0050] Among them, h min represents the minimum lane width, and Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking.

[0051] The present invention provides a Robotaxi shared online car-hailing parking lot design system, comprising:

[0052] An establishment unit is used to establish a vehicle kinematic model, perform vehicle automatic parking trajectory fitting, and calculate the motion radius of the vehicle vertex;

[0053] A first calculation unit, which is used to calculate the coordinates of a first position point and a second position point in the process of automatic parking of the vehicle based on the automatic parking driving trajectory of the vehicle;

[0054] A second calculation unit, which is used to obtain a minimum safe distance between the vehicle and the parking space line during the automatic parking process based on the vehicle's automatic parking trajectory, and calculate the coordinates of the third position point;

[0055] An execution unit, configured to calculate a minimum width of the parking space according to the coordinates of the third position point, and to calculate a minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance;

[0056] Wherein, the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first drives the arc driving trajectory and then the straight driving trajectory;

[0057] The first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in a circular driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the circular driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the straight driving trajectory.

[0058] Compared with the prior art, the advantages of the present invention are: by calculating the minimum width of the parking space and the minimum width of the lane, it helps the operator to set the parking space size at the vehicle parking point more reasonably, so that the operator can set up more parking spaces and park more vehicles in a limited parking area, solving the problem of excessive land cost investment by the operator, thereby increasing the operator's income, and on the other hand, improving the utilization rate of land resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0060] Figure 1 This is a flow chart of a method for designing a parking lot for a Robotaxi shared online car-hailing vehicle in an embodiment of the present invention;

[0061] Figure 2 It is a schematic diagram of vehicle size parameters;

[0062] Figure 3 It is a schematic diagram of the geometric relationship of various points on the vehicle;

[0063] Figure 4 This is a schematic diagram of the vertical parking starting area analysis;

[0064] Figure 5 This is a schematic diagram of the obstacle avoidance analysis of the vehicle body at point D during vertical parking;

[0065] Figure 6 This is a schematic diagram of obstacle avoidance analysis at point E during vertical parking;

[0066] Figure 7 Schematic diagram of obstacle avoidance analysis at the vertical parking road boundary. DETAILED DESCRIPTION

[0067] The embodiment of the present invention provides a method for designing a parking lot for a Robotaxi shared online car-hailing vehicle. By calculating the minimum width of a parking space and the minimum width of a lane, the operator is helped to set the parking space size more reasonably at the vehicle stop, so that the operator can set up more parking spaces and park more vehicles in a limited parking area, thereby solving the problem of excessive land cost investment by the operator, thereby increasing the operator's income and, on the other hand, improving the utilization rate of land resources. The embodiment of the present invention also provides a system for designing a parking lot for a Robotaxi shared online car-hailing vehicle.

[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0069] First, we will briefly explain the entire implementation process of Robotaxi autonomous driving shared ride-hailing, which includes two stages in total.

[0070] In the first stage, passengers who need to take a ride log in to the Robotaxi autonomous driving online booking platform; the online booking platform application uses its GPS system to automatically identify the passenger's current location and the current location of the Robotaxi autonomous driving vehicle, and uses the system-specific dispatching algorithm to batch the order according to the passenger's order information; the Robotaxi autonomous driving online booking vehicle drives to the parking location selected by the passenger, and the vehicle automatically opens the door after parking, and then reminds the passenger to board the vehicle. The passenger gets on the vehicle and closes the door. The Robotaxi autonomous driving online booking vehicle's voice interaction system asks the user whether he can depart for the destination. After the user agrees, the Robotaxi autonomous driving online booking vehicle begins to perform the driving task. When the Robotaxi autonomous driving online booking vehicle drives to the passenger's destination address, it automatically opens the door. After the passenger gets off the vehicle, the system automatically searches for the nearest vehicle stop to park the vehicle. When the vehicle arrives at the temporary vehicle stop, the automatic parking function is activated to park the vehicle.

[0071] In the second stage, while ensuring that the Robotaxi self-driving online taxis can park safely and automatically, the size of the parking space is reduced as much as possible. First, the vehicle kinematic model is built. The vehicle's own structural parameters, such as length, width, wheelbase, front and rear overhangs, etc., have an important impact on the automatic parking function path planning and parking space size design.

[0072] See also Figure 1 As shown, a method for designing a parking lot for a Robotaxi shared online car-hailing vehicle provided by an embodiment of the present invention specifically includes the following steps:

[0073] S1: Establish a vehicle kinematic model, fit the vehicle's automatic parking trajectory, and calculate the motion radius of the vehicle's vertex;

[0074] S2: Calculating the coordinates of a first position point and a second position point during the automatic parking process of the vehicle based on the automatic parking trajectory of the vehicle;

[0075] S3: based on the automatic parking trajectory of the vehicle, obtaining the minimum safe distance between the vehicle and the parking space line during the automatic parking process, and calculating the coordinates of the third position point;

[0076] S4: Calculate the minimum width of the parking space according to the coordinates of the third position point, and calculate the minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance;

[0077] Among them, the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first performs an arc driving trajectory and then a straight driving trajectory; the first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in the arc driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the arc driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the straight driving trajectory.

[0078] In the embodiment of the present invention, a vehicle kinematic model is established, and the specific steps include:

[0079] S101: For vehicles, the kinematic model of four-wheeled vehicles is converted into a bicycle model based on the Ackerman steering principle;

[0080] S102: coordinate positioning of the converted vehicle model, wherein the right rear vertex of the vehicle body is recorded as point A, the right front vertex of the vehicle body is recorded as point B, the left front vertex of the vehicle body is recorded as point C, the left rear vertex of the vehicle body is recorded as point D, the coordinates of the center point of the rear axle are marked as (X, Y), and the coordinates of the center point of the front axle are marked as (X f ,Y f ), the equivalent wheel turning angle of the front axle center is denoted as δ f , the minimum turning radius of the rear axle midpoint is recorded as R min In the present invention, the vehicle is a Robotaxi self-driving online car-hailing vehicle, and the present invention simplifies the appearance of the vehicle. The specific vehicle size parameters are as follows: Figure 2 shown.

[0081] The front wheels of the vehicle in the present invention are steering wheels, and the rear wheels are driving wheels. Figure 3 The plane geometric relationship coordinate system shown. The automatic parking function has a very low speed, so there is no need to consider dynamic issues such as vehicle handling stability. The tire lateral sliding is ignored, and the wheels only roll and turn. The lateral force of the vehicle is zero during driving, and the vehicle as a whole rotates around the instantaneous rotation center of the wheel. The kinematic model of the four-wheel vehicle is converted into a bicycle model based on the Ackerman steering principle, and the simplified vehicle model is coordinate positioned.

[0082] In the embodiment of the present invention, the vehicle automatic parking driving trajectory fitting is performed, and the specific steps include:

[0083] S111: Calculate the relationship between the four vertices of the vehicle body and the midpoint of the rear axle;

[0084] S112: According to the Ackerman steering principle, the kinematic model initial speed and the front wheel steering angle are given at the same time, and the vehicle automatic parking driving trajectory is fitted into a circular driving trajectory and a straight driving trajectory. The circular driving trajectory is the vehicle starting from the first position point and ending at R min The vehicle rotates 90° with a rotation radius to reach the second position point, and the straight-line travel track is for the vehicle to reverse in a straight line from the second position point to the third position point.

[0085] The specific relationship between the four vertices of the vehicle body and the midpoint of the rear axle is:

[0086]

[0087]

[0088]

[0089]

[0090] Among them, X A Indicates the horizontal coordinate of point A, Y A represents the ordinate of point A, W represents the width of the vehicle body, It represents the angle between the length of the vehicle body and the x-axis. r Indicates the distance between the front axle and the front of the vehicle, X B Indicates the horizontal coordinate of point B, Y B represents the ordinate of point B, X C Indicates the horizontal coordinate of point C, Y C represents the ordinate of point C, X D Indicates the horizontal coordinate of point D, Y D Indicates the vertical coordinate of point D.

[0091] Analyze the motion trajectory of the vehicle. Analyzing only the motion trajectory of the rear axle midpoint cannot reflect the motion of the entire vehicle body. During driving, the vehicle body should not collide with other obstacles around it. Therefore, it is necessary to know the coordinate information of the four vertices A, B, C, and D of the vehicle body. Therefore, it is necessary to analyze the motion trajectory of the four vertices of the vehicle body contour. Figure 3 The geometric relationship shown can be used to calculate the relationship between the four vertices of the vehicle body and the midpoint of the rear axle.

[0092] In the embodiment of the present invention, the coordinates of the third position point are calculated, and the specific calculation method is:

[0093]

[0094]

[0095] Among them, x P3 Indicates the horizontal coordinate of the third position point, Wab Indicates the width of the parking space, y P3 represents the ordinate of the third position point, Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed, l r Indicates the distance from the front axle to the front of the vehicle.

[0096] According to the Ackerman steering principle, given the initial speed and the front wheel steering angle of the kinematic model, its motion trajectory must be a circle. In the present invention, the parking route from the vehicle to the parking space can be fitted as a circular arc-straight line path curve, such as Figure 4 As shown, the initial position of the vehicle is set parallel to the length of the parking space. Vertical parking is divided into two stages. First, the vehicle rotates 90° from the starting position P1 with point O as the rotation center and R as the rotation radius to reach point P2, and then backs up along the straight line P2P3 to point P3 to complete parking. Figure 4 In the figure, point P1 represents the first position point, point P2 represents the second position point, point P3 represents the third position point, a represents the left rear corner of the parking space, b represents the right rear corner of the parking space, c represents the right front corner of the parking space, and d represents the left front corner of the parking space.

[0097] In the embodiment of the present invention, the minimum width of the parking space is calculated according to the coordinates of the third position point, and the specific steps include:

[0098] S401: When the midpoint of the rear axle of the vehicle reaches the second position, the vehicle turns and the left rear vertex D of the vehicle body rotates around point O, and the rotation radius is:

[0099]

[0100] Among them, R D It indicates that when the midpoint of the rear axle of the vehicle reaches the second position point, the vehicle turns and the left rear vertex D of the vehicle body rotates around the point O, where O represents the center of the circular arc driving trajectory and W represents the width of the vehicle body;

[0101] S402: Based on the obstacle avoidance requirement at point D when the vehicle is parked in a vertical parking space, obtain:

[0102]

[0103] Among them, Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking;

[0104] S403: Calculate the minimum width of the parking space:

[0105]

[0106] Among them, W abmin Indicates the minimum width of the parking space. Indicates the minimum horizontal coordinate of the third position point.

[0107] When the vehicle travels along the arc segment P1P2, it should be ensured that the left rear vertex D of the vehicle contour does not collide with the left side of the parking space. Figure 5 shown.

[0108] When the midpoint of the rear axle of the vehicle reaches point P2, it starts to turn and the left rear vertex D of the vehicle body rotates around point O. The corresponding rotation radius can be obtained:

[0109]

[0110] Combined with the obstacle avoidance requirements at point D when a vehicle is parking in or out of a vertical parking space, the following inequality can be obtained:

[0111]

[0112] Considering the width of the vehicle's rearview mirror, the recommended value of Δt1 is 0.3 meters.

[0113] like Figure 4 As shown in the figure, a coordinate system is established with the parking space vertex a as the origin. To facilitate calculation, the minimum turning radius is used as the radius of the vertical parking arc segment, that is, R = R min During the parking process, as the position of the parking starting point P1 changes, the parking path can be obtained by simply changing the length of the straight line segment P2P3 accordingly.

[0114] The obstacle avoidance during vertical parking path planning is mainly about avoiding obstacles with the road boundary and the parking space boundary. The minimum parking space width should be sufficient for the vehicle to be fully parked, and after parking is completed, there should be a certain safe distance between the rear of the vehicle and the bottom of the parking space. After parking is completed, the front end of the vehicle is set to coincide with the upper part of the parking space, and the parking starting point area is calculated in such a way that the vehicle safely drives out of the parking space from the parking end point. At the end of parking, the vehicle should be parked in the middle of the parking space and the front end of the vehicle should be aligned with the upper part of the parking space, from which the position coordinates of the parking end point P3 can be analyzed.

[0115] In the embodiment of the present invention, based on the automatic parking trajectory of the vehicle, the coordinates of the first position point and the second position point in the automatic parking process of the vehicle are calculated, and the specific steps include:

[0116] The intersection of the extended line of the rear axle of the vehicle and the AB side of the body contour is recorded as point E. When the vehicle is traveling in an arc, when the trajectory of point E just passes through the right front corner of the parking space, the lower limit values ​​of the coordinates of the first position point and the second position point can be obtained. Specifically:

[0117]

[0118] in, Indicates the minimum value of the ordinate of the second position point, L ad Indicates the length of the parking space, L ad=L+Δt, where L represents the length of the vehicle and Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed;

[0119]

[0120]

[0121] in, Indicates the minimum value of the horizontal coordinate of the first position point, W ab Indicates the width of the parking space. Indicates the minimum value of the vertical coordinate of the first position point;

[0122]

[0123] Where l represents the distance between the front axle and the rear axle, l f represents the distance from the rear axle to the parking space, Δt2 represents the minimum distance between the edge of the vehicle and the edge of the lane during parking, and h represents the road width.

[0124] When the vehicle travels along the path P1P2, it is necessary to ensure that the upper right vertex c of the parking space does not collide with the right boundary AB of the body contour. The intersection point between the extension line of the rear axle of the vehicle and the side AB of the body contour is recorded as point E. From the geometric relationship analysis, it can be seen that as long as point E does not collide with point c during driving, the side AB of the body contour can be ensured not to collide with the vertex c of the parking space. When the vehicle is traveling in an arc, when the trajectory of point E just passes through the right front corner of the parking space, the lower limit values ​​of the coordinates of the first position point and the second position point can be obtained, such as Figure 6 shown.

[0125] according to Figure 6 The geometric relationship in shows that the lower limit of the ordinate of point P2 is:

[0126]

[0127] The straight line segment P2P3 is parallel to the Y axis, so the horizontal coordinates of point P3 and point P2 are the same. According to the geometric relationship, the lower limit of the coordinate of point P1 is:

[0128]

[0129]

[0130] In addition, when the vehicle travels along the arc P1P2 segment, it is necessary to ensure that each point of the vehicle body contour does not exceed the road boundary, that is, it is only necessary to ensure that the left front point C of the vehicle body does not collide with the road boundary. Figure 7 shown.

[0131] The road width is h. In order to avoid collision between point C and the road boundary, the ordinate of point P1 needs to meet the following conditions:

[0132]

[0133] In actual application, the value of Δt2 can be 0.1 meter.

[0134] In the embodiment of the present invention, the minimum lane width is calculated as follows:

[0135]

[0136] Among them, h min represents the minimum lane width, and Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking. The lane in the present invention refers to the lane in the parking lot, which can be Figure 7 shown.

[0137] The Robotaxi shared online car-hailing parking lot design method of the embodiment of the present invention helps the operator to set the parking space size more reasonably at the vehicle parking point by calculating the minimum width of the parking space and the minimum width of the lane, so that the operator can set up more parking spaces and park more vehicles in a limited parking area, thereby solving the problem of excessive land cost investment by the operator, thereby increasing the operator's income, and on the other hand, improving the utilization rate of land resources.

[0138] A Robotaxi shared online car-hailing parking lot design system provided in an embodiment of the present invention includes an establishment unit, a first calculation unit, a second calculation unit and an execution unit.

[0139] The establishing unit is used to establish a vehicle kinematic model, perform vehicle automatic parking driving trajectory fitting, and calculate the motion radius of the vehicle vertex; the first calculating unit is used to calculate the coordinates of the first position point and the second position point during the automatic parking process of the vehicle based on the vehicle automatic parking driving trajectory; the second calculating unit is used to obtain the minimum safety distance between the vehicle and the parking space line during the automatic parking process of the vehicle based on the vehicle automatic parking driving trajectory, and calculate the coordinates of the third position point; the executing unit is used to calculate the minimum width of the parking space according to the coordinates of the third position point, and calculate the minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance; the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first performs an arc driving trajectory and then a straight driving trajectory; the first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in the arc driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks in the arc driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks in the straight driving trajectory.

[0140] In the embodiment of the present invention, a vehicle kinematic model is established, and the specific steps include:

[0141] For vehicles, the kinematic model of four-wheeled vehicles is transformed into a bicycle model based on the Ackerman steering principle;

[0142] The converted vehicle model is positioned by coordinates, where the right rear vertex of the vehicle body is recorded as point A, the right front vertex of the vehicle body is recorded as point B, the left front vertex of the vehicle body is recorded as point C, the left rear vertex of the vehicle body is recorded as point D, the coordinates of the center point of the rear axle are marked as (X, Y), and the coordinates of the center point of the front axle are marked as (X f ,Y f ), the equivalent wheel turning angle of the front axle center is denoted as δ f , the minimum turning radius of the rear axle midpoint is recorded as R min .

[0143] In the embodiment of the present invention, the vehicle automatic parking driving trajectory fitting is performed, and the specific steps include:

[0144] Calculate the relationship between the four vertices of the vehicle body and the midpoint of the rear axle;

[0145] According to the Ackerman steering principle, the kinematic model initial speed and front wheel steering angle are given at the same time, and the vehicle automatic parking trajectory is fitted into a circular trajectory and a straight trajectory. The circular trajectory is the vehicle starting from the first position point and ending at R min The vehicle rotates 90° with a rotation radius to reach the second position point, and the straight-line travel track is for the vehicle to reverse in a straight line from the second position point to the third position point.

[0146] In the embodiment of the present invention, the specific relationship between the four vertices of the vehicle body and the midpoint of the rear axle is:

[0147]

[0148]

[0149]

[0150]

[0151] Among them, X A Indicates the horizontal coordinate of point A, Y A represents the ordinate of point A, W represents the width of the vehicle body, It represents the angle between the length of the vehicle body and the x-axis. r Indicates the distance between the front axle and the front of the vehicle, X B Indicates the horizontal coordinate of point B, Y B represents the ordinate of point B, X C Indicates the horizontal coordinate of point C, Y Crepresents the ordinate of point C, X D Indicates the horizontal coordinate of point D, Y D Indicates the vertical coordinate of point D.

[0152] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0153] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A method for designing a parking lot for a Robotaxi shared online car-hailing service, characterized in that: The specific steps include: Establish a vehicle kinematic model, fit the vehicle's automatic parking trajectory, and calculate the motion radius of the vehicle's vertex; Based on the vehicle's automatic parking trajectory, calculate the coordinates of a first position point and a second position point during the vehicle's automatic parking process; Based on the vehicle's automatic parking trajectory, the minimum safe distance between the vehicle and the parking space line during the automatic parking process is obtained, and the coordinates of the third position point are calculated; The minimum width of the parking space is calculated according to the coordinates of the third position point, and the minimum width of the lane is calculated according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance; Wherein, the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first drives the arc driving trajectory and then the straight driving trajectory; The first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in a circular driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the circular driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the straight driving trajectory.

2. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 1, characterized in that: The specific steps of establishing the vehicle kinematic model include: For vehicles, the kinematic model of four-wheeled vehicles is transformed into a bicycle model based on the Ackerman steering principle; The converted vehicle model is positioned by coordinates, where the right rear vertex of the vehicle body is recorded as point A, the right front vertex of the vehicle body is recorded as point B, the left front vertex of the vehicle body is recorded as point C, the left rear vertex of the vehicle body is recorded as point D, the coordinates of the center point of the rear axle are marked as (X, Y), and the coordinates of the center point of the front axle are marked as (X f ,Y f ), the equivalent wheel turning angle of the front axle center is denoted as δ f , the minimum turning radius of the rear axle midpoint is recorded as R min .

3. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 2, characterized in that: The specific steps of performing vehicle automatic parking trajectory fitting include: Calculate the relationship between the four vertices of the vehicle body and the midpoint of the rear axle; According to the Ackerman steering principle, the initial speed and the front wheel steering angle of the kinematic model are given at the same time, and the vehicle's automatic parking trajectory is fitted into a circular trajectory and a straight trajectory.

4. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 3, characterized in that: The arc driving trajectory is that the vehicle starts from the first position point and ends at R min The vehicle rotates 90° with a rotation radius to reach the second position point, and the straight-line travel track is for the vehicle to reverse in a straight line from the second position point to the third position point.

5. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 4, characterized in that: The specific relationship between the four vertices of the vehicle body and the midpoint of the rear axle is: Among them, X A Indicates the horizontal coordinate of point A, Y A represents the ordinate of point A, W represents the width of the vehicle body, It represents the angle between the length of the vehicle body and the x-axis. r Indicates the distance between the front axle and the front of the vehicle, X B Indicates the horizontal coordinate of point B, Y B represents the ordinate of point B, X C Indicates the horizontal coordinate of point C, Y C represents the ordinate of point C, X D Indicates the horizontal coordinate of point D, Y D Indicates the vertical coordinate of point D.

6. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 4, characterized in that: The calculation method for obtaining the coordinates of the third position point is as follows: in, Indicates the horizontal coordinate of the third position point, W ab Indicates the width of the parking space. represents the ordinate of the third position point, Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed, l r Indicates the distance from the front axle to the front of the vehicle.

7. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 6, characterized in that: The specific steps of calculating the minimum width of the parking space according to the coordinates of the third position point include: When the midpoint of the rear axle of the vehicle reaches the second position, the vehicle turns and the left rear vertex D of the vehicle body rotates around point O. The rotation radius is: Among them, R D It indicates that when the midpoint of the rear axle of the vehicle reaches the second position point, the vehicle turns and the left rear vertex D of the vehicle body rotates around the point O, where O represents the center of the circular arc driving trajectory and W represents the width of the vehicle body; Based on the obstacle avoidance requirement at point D when the vehicle is parking in a vertical parking space, we get: Among them, Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking; Calculate the minimum width of the parking space: Among them, W abmin Indicates the minimum width of a parking space. Indicates the minimum horizontal coordinate of the third position point.

8. A Robotaxi shared online car-hailing parking lot design method as claimed in claim 4, characterized in that: The method of calculating the coordinates of the first position point and the second position point in the process of automatic parking of the vehicle based on the automatic parking trajectory of the vehicle comprises the following specific steps: The intersection of the extended line of the rear axle of the vehicle and the AB side of the body contour is recorded as point E. When the vehicle is traveling in an arc, when the trajectory of point E just passes through the right front corner of the parking space, the lower limit values ​​of the coordinates of the first position point and the second position point can be obtained. Specifically: in, Indicates the minimum value of the ordinate of the second position point, L ad Indicates the length of the parking space, L ad =L+Δt, L represents the length of the vehicle body, Δt represents the safe distance between the rear of the vehicle and the bottom of the parking space after parking is completed, W ab Indicates the width of the parking space; in, Indicates the minimum value of the horizontal coordinate of the first position point, W ab Indicates the width of the parking space. Indicates the minimum value of the vertical coordinate of the first position point; Where l represents the distance between the front axle and the rear axle, l f represents the distance from the rear axle to the parking space, Δt2 represents the minimum distance between the edge of the vehicle and the edge of the lane during parking, and h represents the road width.

9. A method for designing a parking lot for a Robotaxi shared online car-hailing service as claimed in claim 8, characterized in that: The calculation method for obtaining the minimum lane width is: Among them, h min represents the minimum lane width, and Δt1 represents the minimum safe distance between the vehicle and the parking space line during parking.

10. A Robotaxi shared online car-hailing parking lot design system, characterized in that: include: An establishment unit is used to establish a vehicle kinematic model, perform vehicle automatic parking trajectory fitting, and calculate the motion radius of the vehicle vertex; A first calculation unit, which is used to calculate the coordinates of a first position point and a second position point in the process of automatic parking of the vehicle based on the automatic parking driving trajectory of the vehicle; A second calculation unit, which is used to obtain a minimum safe distance between the vehicle and the parking space line during the automatic parking process based on the vehicle's automatic parking trajectory, and calculate the coordinates of the third position point; An execution unit, configured to calculate a minimum width of the parking space according to the coordinates of the third position point, and to calculate a minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance; Wherein, the vehicle automatic parking driving trajectory includes an arc driving trajectory and a straight driving trajectory, and the vehicle first drives the arc driving trajectory and then the straight driving trajectory; The first position point is the position of the midpoint of the rear axle when the vehicle automatically parks in a circular driving trajectory, the second position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the circular driving trajectory, and the third position point is the position of the midpoint of the rear axle when the vehicle automatically parks ends the straight driving trajectory.

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